CN110802376B - Multi-station airplane wing box assembling method - Google Patents
Multi-station airplane wing box assembling method Download PDFInfo
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- CN110802376B CN110802376B CN201911162048.1A CN201911162048A CN110802376B CN 110802376 B CN110802376 B CN 110802376B CN 201911162048 A CN201911162048 A CN 201911162048A CN 110802376 B CN110802376 B CN 110802376B
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Abstract
A method for assembling a multi-station airplane wing box comprises the following steps: the method comprises the following steps that in the preparation stage, an airplane wing box blank part is placed in a part storage area, four stations are arranged in a marking mode, and a crane is configured; the method comprises the steps of performing finish machining, assembling a wing box framework on a non-clamping plate framework assembling type frame at a first station, obtaining framework size parameters and appearance data through a 3D laser scanner, finely adjusting the framework according to the parameter size, respectively hoisting an upper wall plate and a lower wall plate of the wing box to a second station and a third station, fixing the wall plates through a wall plate assembling type, drilling and trimming the wall plates through a gantry numerical control machine tool, obtaining inner shape data of the upper wall plate and the lower wall plate through the 3D laser scanner, guiding the inner shape data and the outer shape data of the framework and the wall plates into a computer, obtaining the gap size between the framework and the wall plates, spraying a coating gasket for compensating the gap on the framework through an industrial manipulator, hoisting the upper wall plate and the lower wall plate to the first station, pre-assembling the; and hoisting the lower wall plate, the framework and the upper wall plate to a fourth station in sequence to finish the final assembly of the wing box.
Description
Technical Field
The invention belongs to the technical field of aircraft part manufacturing, and particularly relates to a multi-station aircraft wing box assembling method.
Background
At present, the assembly work of the aircraft wing box is generally finished on a fixed station, and the assembly processes are numerous, so that a large number of locators and clamping plates are needed, the part type frame of the aircraft wing box is crowded, the assembly efficiency and the openness are poor, the inconvenience is brought to the operation of workers, and the use of automatic equipment is not facilitated.
When the framework of the aircraft wing box is assembled, the front wing beam, the rear wing beam, the root rib, the end ribs and the middle ribs of the framework are mainly positioned by the positioning devices on the tool, errors of the positioning devices can be accumulated in the assembly of the wing box framework, and once the accumulated errors are too large, the assembly of the aircraft wing box is out of tolerance.
Because the framework of the aircraft wing box needs to be positioned by a positioner, and the upper wall plate and the lower wall plate of the aircraft wing box are manufactured by taking the theoretical appearance of the framework as a reference, when the upper wall plate, the lower wall plate and the framework are assembled, a gap must exist between the wall plate and the framework, and a coordination error is generated. The current processing mode is as follows: the clearance between the wall plate and the framework is firstly measured by a worker by using the feeler gauge, and then a proper plug piece is selected according to experience to fill the clearance. However, the gap filling method still has the obvious defect that the manual plugging method causes large assembly errors, and after the wall plate and the framework are assembled together, the external contour of the wall plate is easily distorted, so that the aerodynamic appearance of the airplane can be damaged.
In addition, under traditional assembly methods, the riveting hole between the wallboard and the framework is made by a manual method, and during hole making, due to the fact that an inclination angle exists between the drill bit and the component, the perpendicularity of a hole position, a hole diameter and a hole axis is prone to generating deviation, and the structural accuracy and the fatigue life of the aircraft wing box are influenced finally.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a multi-station airplane wing box assembling method, which is characterized in that the hole machining and manufacturing processes of a framework, an upper wall plate and a lower wall plate are distributed to different stations, the assembling and positioning openness of parts of an airplane wing box is improved, the hole machining and manufacturing processes of the parts of the airplane wing box are completed by full-automatic machining equipment, the hole machining and manufacturing precision and efficiency of the parts of the airplane wing box are greatly improved, the overall dimension of the parts of the airplane wing box is completely obtained by a laser scanning mode, the gap between the wall plate and the framework is obtained based on laser scanning data, the gap filling adopts a coating mode, the gap filling precision is effectively improved, the assembling precision between the wall plate and the framework of the airplane wing box is finally improved, and the stability of the aerodynamic appearance of the airplane is ensured.
In order to achieve the purpose, the invention adopts the following technical scheme: a multi-station airplane wing box assembling method comprises the following steps:
the method comprises the following steps: preparation phase
The method comprises the following steps that firstly, manufactured aircraft wing box blank parts are uniformly placed in a part storage area, and the aircraft wing box blank comprises a front wing beam, a rear wing beam, a root rib, an end rib, a middle rib, an upper wall plate and a lower wall plate;
secondly, manually dividing four stations into a first station, a second station, a third station and a fourth station; the equipment arranged in the first station comprises a non-clamping plate skeleton assembling type frame and an industrial manipulator; the equipment arranged in the second station comprises a first wall plate assembling jig and a first gantry numerical control machine tool; the equipment arranged in the third station comprises a second wall plate assembly jig and a second gantry numerical control machine tool; the first station, the second station and the third station are also uniformly provided with a 3D laser scanner; the fourth station is used as a final assembly station of the aircraft wing box;
arranging a crane above the part storage area and the four station areas;
step two: finishing stage
Hoisting a front wing beam, a rear wing beam, a root rib, an end rib and a middle rib to a non-clamping plate skeleton assembly fixture at a first station respectively through a crane, and assembling the front wing beam, the rear wing beam, the root rib, the end rib and the middle rib together in the non-clamping plate skeleton assembly fixture to form a skeleton of an airplane wing box;
three-dimensionally scanning the framework in the non-clamping plate framework assembling type frame through a 3D laser scanner, detecting positioning hole position degree data and axis angle data of the framework, simultaneously obtaining appearance data of the framework, and finely adjusting the clamping position of the framework in the non-clamping plate framework assembling type frame according to the detected positioning hole position degree data and axis angle data until the positioning hole position degree and the axis angle of the framework meet design requirements;
hoisting the first wall plate assembly jig to a workbench of a first gantry numerical control machine tool, hoisting the upper wall plate to the first wall plate assembly jig of a second station, finishing hole making and edge cutting procedures of the upper wall plate through the first gantry numerical control machine tool to enable the upper wall plate to meet design requirements, and then performing three-dimensional scanning on the upper wall plate through a 3D laser scanner to obtain inner shape data of the upper wall plate;
hoisting the second wall plate assembly jig to a workbench of a second gantry numerical control machine tool, hoisting the lower wall plate to a second wall plate assembly jig of a third station, finishing hole making and edge cutting procedures of the lower wall plate through the second gantry numerical control machine tool to enable the lower wall plate to meet design requirements, and then carrying out three-dimensional scanning on the lower wall plate through a 3D laser scanner to obtain inner shape data of the lower wall plate;
uniformly importing the shape data of the framework, the shape data of the upper wall plate and the shape data of the lower wall plate into a computer, generating a virtual airplane wing box assembly in the computer, and automatically acquiring the gap size between the framework and the upper wall plate and the lower wall plate in the airplane wing box assembly through the computer;
importing the acquired gap size data between the framework and the upper wall plate and the lower wall plate into a control terminal of an industrial manipulator at a first station, selecting a coating nozzle as an end effector of the industrial manipulator, and spraying a coating gasket for compensating the gap on the framework by the industrial manipulator until the coating gasket is completely cured and molded;
seventhly, detaching the upper wall plate from the first wall plate assembling type frame, and hoisting the upper wall plate to the non-clamping plate skeleton assembling type frame at the first station to be pre-assembled with the skeleton; meanwhile, the lower wall plate is detached from the second wall plate assembly jig and is hoisted into the non-clamping plate framework assembly jig of the first station to be pre-assembled with the framework;
replacing an end effector of the industrial manipulator with an electric drilling machine, and finishing the superposition hole making of riveting holes on the pre-assembled framework, the upper wall plate and the lower wall plate through the electric drilling machine according to the design size requirement, wherein the finish machining of the framework, the upper wall plate and the lower wall plate is finished;
step three: final assembly phase
Firstly, removing the preassembly state of the lower wall plate, and hoisting the lower wall plate from the first station to the fourth station through a crane;
secondly, the positioning between the framework and the non-clamping plate framework assembling type frame is released, the framework is hoisted to a fourth station through a crane, and the framework and the lower wall plate are riveted together;
thirdly, an oil tank and related system pipes are arranged in the framework to finish debugging;
and fourthly, removing the preassembly state of the upper wall plate, hoisting the upper wall plate from the first station to the fourth station through a crane, riveting the upper wall plate and the framework together, and finishing the assembly of the aircraft wing box.
The invention has the beneficial effects that:
according to the multi-station aircraft wing box assembling method, the machining and hole-making processes of the framework, the upper wall plate and the lower wall plate are distributed to different stations, the assembling and positioning openness of the components of the aircraft wing box is improved, the machining and hole-making processes of the components of the aircraft wing box are completed by full-automatic machining equipment, the machining and hole-making precision and efficiency of the components of the aircraft wing box are greatly improved, the overall dimension of the components of the aircraft wing box is completely obtained by a laser scanning mode, the gap between the wall plate and the framework is obtained based on laser scanning data, the gap filling adopts a coating mode, the gap filling precision is effectively improved, the assembling precision between the wall plate and the framework of the aircraft wing box is finally improved, and the stability of the aerodynamic appearance of the aircraft is ensured.
Drawings
FIG. 1 is a schematic view of the front spar, rear spar, root ribs, end ribs and intermediate ribs in a parts storage area when parked;
FIG. 2 is a schematic view of the upper/lower wall plates when parked in the parts storage area (already connected to the hoist chain of the crane);
FIG. 3 is a schematic view of the skeletal framework after it has been installed on the cardless skeletal assembly jig;
FIG. 4 is a schematic view of a non-snap-gauge skeleton-mounted fabricated frame with a skeleton in use with an industrial robot;
fig. 5 is a schematic view after the upper/lower wall plates have been mounted to the first/second wall panel mounting jig;
fig. 6 is a schematic view showing the first/second panel assembling jig with the upper/lower panels mounted thereon in cooperation with the first/second gantry numerical control machine tool;
FIG. 7 is a schematic view of a cardless skeletal assembly jig pre-assembled with a skeleton, an upper wall panel and a lower wall panel, in use with an industrial robot;
figure 8 is a schematic view of a fully assembled wing box of an aircraft in a fourth station for parking;
in the figure, 1-front wing beam, 2-rear wing beam, 3-root rib, 4-end rib, 5-middle rib, 6-upper wall plate, 7-lower wall plate, 8-non-clamping plate skeleton assembling jig, 9-industrial manipulator, 10-first wall plate assembling jig, 11-first gantry numerical control machine, 12-second wall plate assembling jig, 13-second gantry numerical control machine, 81-rear wing beam pin shaft positioner, 82-rear wing beam self-tapping nail positioner, 83-front wing beam pin shaft positioner, 84-front wing beam self-tapping nail positioner, 101-clamping plate and 102-vacuum chuck.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
A multi-station airplane wing box assembling method comprises the following steps:
the method comprises the following steps: preparation phase
Firstly, as shown in fig. 1 and 2, uniformly placing the prepared aircraft wing box blank parts in a part storage area, wherein the aircraft wing box blank comprises a front wing beam 1, a rear wing beam 2, a root rib 3, an end rib 4, a middle rib 5, an upper wall plate 6 and a lower wall plate 7; in this embodiment, five intermediate ribs 5 are provided;
secondly, manually dividing four stations into a first station, a second station, a third station and a fourth station; the equipment arranged in the first station comprises a non-clamping plate skeleton assembling type frame 8 and an industrial manipulator 9; the equipment arranged in the second station comprises a first wall plate assembly jig 10 and a first gantry numerical control machine tool 11; the equipment arranged in the third station comprises a second wall plate assembly jig 12 and a second gantry numerical control machine tool 13; the first station, the second station and the third station are also uniformly provided with a 3D laser scanner; the fourth station is used as a final assembly station of the aircraft wing box;
arranging a crane above the part storage area and the four station areas;
step two: finishing stage
Firstly, respectively hoisting a front wing beam 1, a rear wing beam 2, a root rib 3, an end rib 4 and a middle rib 5 into a non-clamping plate skeleton assembly jig 8 at a first station by a crane, and assembling the front wing beam 1, the rear wing beam 2, the root rib 3, the end rib 4 and the middle rib 5 together in the non-clamping plate skeleton assembly jig 8 to form a skeleton of an airplane wing box, as shown in fig. 3 and 4;
in the embodiment, in order to realize the non-clamping plate assembly of the framework, assembly holes are processed in advance on the front wing beam 1, the rear wing beam 2, the root rib 3, the end ribs 4 and the middle rib 5 when blank parts are manufactured; firstly, the rear wing beam 2 is installed below the non-clamping board skeleton assembly jig 8, so that the rear wing beam pin shaft positioner 81 at the bottom of the non-clamping board skeleton assembly jig 8 accurately penetrates into an assembly hole in the rear wing beam 2 to realize the primary positioning of the rear wing beam 2, and then the rear wing beam 2 is accurately positioned through the rear wing beam self-tapping nail positioners 82 at two sides of the bottom of the non-clamping board skeleton assembly jig 8; next, the front wing beam 1 is installed above the non-clamping plate skeleton assembly jig 8, the front wing beam pin shaft positioner 83 at the top of the non-clamping plate skeleton assembly jig 8 accurately penetrates into an assembly hole in the front wing beam 1 to realize primary positioning of the front wing beam 1, and then the front wing beam 1 is accurately positioned through the front wing beam self-tapping nail positioners 84 at two sides of the top of the non-clamping plate skeleton assembly jig 8; after the front wing beam 1 and the rear wing beam 2 are installed, the root rib 3 is placed between the roots of the front wing beam 1 and the rear wing beam 2, the root rib 3 is aligned with the connecting assembly holes in the front wing beam 1 and the rear wing beam 2, and the root rib 3 is in positioning riveting with the front wing beam 1 and the rear wing beam 2; placing the end rib 4 between the ends of the front spar 1 and the rear spar 2, aligning the end rib 4 with the connecting assembly holes on the front spar 1 and the rear spar 2, and positioning and riveting the end rib 4 with the front spar 1 and the rear spar 2; sequentially placing the middle rib 5 between the front wing beam 1 and the rear wing beam 2, aligning the middle rib 5 with the connecting assembly holes on the front wing beam 1 and the rear wing beam 2, and positioning and riveting the middle rib 5 with the front wing beam 1 and the rear wing beam 2; assembling the framework of the aircraft wing box;
secondly, three-dimensionally scanning the framework in the non-clamping plate framework assembling type frame 8 through a 3D laser scanner, detecting positioning hole position degree data and axis angle data of the framework, obtaining appearance data of the framework, and finely adjusting the framework clamping position in the non-clamping plate framework assembling type frame 8 according to the detected positioning hole position degree data and axis angle data until the positioning hole position degree and the axis angle of the framework meet design requirements;
thirdly, as shown in fig. 5 and 6, hoisting the first wall plate assembly jig 10 to a workbench of a first gantry numerical control machine tool 11, hoisting the upper wall plate 6 to the first wall plate assembly jig 10 at a second station, completing hole making and edge cutting processes of the upper wall plate 6 through the first gantry numerical control machine tool 11 to enable the upper wall plate 6 to meet design requirements, and then performing three-dimensional scanning on the upper wall plate 6 through a 3D laser scanner to obtain the inner shape data of the upper wall plate 6;
fourthly, as shown in fig. 5 and 6, hoisting the second wall plate assembly jig 12 to a workbench of a second gantry numerical control machine tool 13, hoisting the lower wall plate 7 to the second wall plate assembly jig 12 at a third station, completing hole making and edge cutting processes of the lower wall plate 7 through the second gantry numerical control machine tool 13, enabling the lower wall plate 7 to meet design requirements, and then performing three-dimensional scanning on the lower wall plate 7 through a 3D laser scanner to obtain the inner shape data of the lower wall plate 7;
in this embodiment, the first panel assembly jig 10 and the second panel assembly jig 12 are identical in structure, but are mirror images of each other; the first wall panel assembly jig 10 and the second wall panel assembly jig 12 are both provided with clamping plate jigs; the mounting mode of the upper wallboard 6 and the lower wallboard 7 is the same, taking the mounting of the upper wallboard 6 as an example, firstly, the upper wallboard 6 is hoisted to the side of the clamping plate 101 of the first wallboard assembly jig 10 through the lifting lugs, so that the positioning holes on the edge of the upper wallboard 6 are aligned with the positioning holes on the clamping plate 101 one by one, then, the upper wallboard 6 is fixed on the clamping plate 101 through the positioning holes, then, a plurality of vacuum chucks 102 distributed on the clamping plate 101 are adjusted, and the deformation of the upper wallboard 6 is controlled through the vacuum chucks 102; when the upper wall plate 6 and the lower wall plate 7 need to be pre-assembled with the framework at a first station, and the upper wall plate 6 and the lower wall plate 7 are separated from the wall plate assembly jig, the clamping plate 101 needs to be lifted and moved together with the upper wall plate 6 and the lower wall plate 7, and the clamping plate 101 and the vacuum chuck 102 are used for shape preservation of the upper wall plate 6 and the lower wall plate 7 all the time in the lifting process;
uniformly importing the shape data of the framework, the shape data of the upper wall plate 6 and the shape data of the lower wall plate 7 into a computer, generating a virtual airplane wing box assembly in the computer, and automatically acquiring the size of a gap between the framework and the upper wall plate 6 and the size of a gap between the framework and the lower wall plate 7 in the airplane wing box assembly through the computer;
guiding the acquired size data of the gap between the framework and the upper wall plate 6 and the lower wall plate 7 into a control terminal of an industrial manipulator 9 at a first station, selecting a coating nozzle as an end effector of the industrial manipulator 9, and spraying a coating gasket for compensating the gap on the framework by the industrial manipulator 9 until the coating gasket is completely cured and molded;
seventhly, as shown in fig. 7, the upper wall plate 6 is detached from the first wall plate assembly type frame 10 and hoisted into the non-clamping plate framework assembly type frame 8 at the first station to be preassembled with the framework; meanwhile, the lower wall plate 7 is detached from the second wall plate assembly jig 12 and hoisted into the non-clamping plate framework assembly jig 8 at the first station to be pre-assembled with the framework;
replacing the end effector of the industrial manipulator 9 with an electric drilling machine, and completing the superposition hole making of riveting holes on the pre-assembled framework, the upper wall plate 6 and the lower wall plate 7 through the electric drilling machine according to the design size requirement, wherein the finish machining of the framework, the upper wall plate 6 and the lower wall plate 7 is finished at the moment;
step three: final assembly phase
Firstly, removing the preassembly state of the lower wall plate 7, and hoisting the lower wall plate 7 from the first station to the fourth station through a crane;
secondly, the positioning between the framework and the non-clamping plate framework assembling type frame 8 is released, the framework is hoisted to a fourth station through a crane, and the framework and the lower wall plate 7 are riveted together;
thirdly, an oil tank and related system pipes are arranged in the framework to finish debugging;
and fourthly, removing the preassembly state of the upper wall plate 6, hoisting the upper wall plate 6 from the first station to the fourth station through a crane, riveting the upper wall plate 6 and the framework together, and finishing the assembly of the aircraft wing box at the moment, as shown in fig. 8.
The embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications without departing from the scope of the present invention are intended to be included in the scope of the present invention.
Claims (1)
1. A multi-station aircraft wing box assembling method is characterized by comprising the following steps:
the method comprises the following steps: preparation phase
The method comprises the following steps that firstly, manufactured aircraft wing box blank parts are uniformly placed in a part storage area, and the aircraft wing box blank comprises a front wing beam, a rear wing beam, a root rib, an end rib, a middle rib, an upper wall plate and a lower wall plate;
secondly, manually dividing four stations which are respectively marked as a first station, a second station, a third station and a fourth station; the equipment arranged in the first station comprises a non-clamping plate skeleton assembling type frame and an industrial manipulator; the equipment arranged in the second station comprises a first wall plate assembling jig and a first gantry numerical control machine tool; the equipment arranged in the third station comprises a second wall plate assembly jig and a second gantry numerical control machine tool; the first station, the second station and the third station are also uniformly provided with a 3D laser scanner; the fourth station is used as a final assembly station of the aircraft wing box;
arranging a crane above the part storage area and the four station areas;
step two: finishing stage
Hoisting a front wing beam, a rear wing beam, a root rib, an end rib and a middle rib to a non-clamping plate skeleton assembly fixture at a first station respectively through a crane, and assembling the front wing beam, the rear wing beam, the root rib, the end rib and the middle rib together in the non-clamping plate skeleton assembly fixture to form a skeleton of an airplane wing box;
three-dimensionally scanning the framework in the non-clamping plate framework assembling type frame through a 3D laser scanner, detecting positioning hole position degree data and axis angle data of the framework, simultaneously obtaining appearance data of the framework, and finely adjusting the clamping position of the framework in the non-clamping plate framework assembling type frame according to the detected positioning hole position degree data and axis angle data until the positioning hole position degree and the axis angle of the framework meet design requirements;
hoisting the first wall plate assembly jig to a workbench of a first gantry numerical control machine tool, hoisting the upper wall plate to the first wall plate assembly jig of a second station, finishing hole making and edge cutting procedures of the upper wall plate through the first gantry numerical control machine tool to enable the upper wall plate to meet design requirements, and then performing three-dimensional scanning on the upper wall plate through a 3D laser scanner to obtain inner shape data of the upper wall plate;
hoisting the second wall plate assembly jig to a workbench of a second gantry numerical control machine tool, hoisting the lower wall plate to a second wall plate assembly jig of a third station, finishing hole making and edge cutting procedures of the lower wall plate through the second gantry numerical control machine tool to enable the lower wall plate to meet design requirements, and then carrying out three-dimensional scanning on the lower wall plate through a 3D laser scanner to obtain inner shape data of the lower wall plate;
uniformly importing the shape data of the framework, the shape data of the upper wall plate and the shape data of the lower wall plate into a computer, generating a virtual airplane wing box assembly in the computer, and automatically acquiring the gap size between the framework and the upper wall plate and the lower wall plate in the airplane wing box assembly through the computer;
importing the acquired gap size data between the framework and the upper wall plate and the lower wall plate into a control terminal of an industrial manipulator at a first station, selecting a coating nozzle as an end effector of the industrial manipulator, and spraying a coating gasket for compensating the gap on the framework by the industrial manipulator until the coating gasket is completely cured and molded;
seventhly, detaching the upper wall plate from the first wall plate assembling type frame, and hoisting the upper wall plate to the non-clamping plate skeleton assembling type frame at the first station to be pre-assembled with the skeleton; meanwhile, the lower wall plate is detached from the second wall plate assembly jig and is hoisted into the non-clamping plate framework assembly jig of the first station to be pre-assembled with the framework;
replacing an end effector of the industrial manipulator with an electric drilling machine, and finishing the superposition hole making of riveting holes on the pre-assembled framework, the upper wall plate and the lower wall plate through the electric drilling machine according to the design size requirement, wherein the finish machining of the framework, the upper wall plate and the lower wall plate is finished;
step three: final assembly phase
Firstly, removing the preassembly state of the lower wall plate, and hoisting the lower wall plate from the first station to the fourth station through a crane;
secondly, the positioning between the framework and the non-clamping plate framework assembling type frame is released, the framework is hoisted to a fourth station through a crane, and the framework and the lower wall plate are riveted together;
thirdly, an oil tank and related system pipes are arranged in the framework to finish debugging;
and fourthly, removing the preassembly state of the upper wall plate, hoisting the upper wall plate from the first station to the fourth station through a crane, riveting the upper wall plate and the framework together, and finishing the assembly of the aircraft wing box.
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| CN112193432B (en) * | 2020-08-21 | 2022-04-12 | 浙江大学 | Method for installing aircraft wall panel and method for calculating assembly clearance between aircraft wall panel and framework |
| CN112977875B (en) * | 2021-04-08 | 2022-08-05 | 泉州装备制造研究所 | Multi-section constraint sequence optimization method for assembly gap of wing box |
| CN112977876B (en) * | 2021-04-08 | 2022-08-05 | 泉州装备制造研究所 | Wing box assembling gap control method |
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| US9925625B2 (en) * | 2015-05-04 | 2018-03-27 | The Boeing Company | Assembly of an aircraft structure assembly without shimming, locating fixtures or final-hole-size drill jigs |
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| US6141848A (en) * | 1997-06-28 | 2000-11-07 | The Boeing Company | Contoured stringer/clip drilling |
| CN103158888A (en) * | 2011-12-13 | 2013-06-19 | 波音公司 | Method and apparatus for fabricating large scale integrated airfoils |
| CN103921116A (en) * | 2014-04-24 | 2014-07-16 | 浙江大学 | Flexible assembly system for aircraft panel |
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